CN113534395B - SMA actuation structure control method, electronic device, and storage medium - Google Patents

SMA actuation structure control method, electronic device, and storage medium Download PDF

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CN113534395B
CN113534395B CN202110698401.9A CN202110698401A CN113534395B CN 113534395 B CN113534395 B CN 113534395B CN 202110698401 A CN202110698401 A CN 202110698401A CN 113534395 B CN113534395 B CN 113534395B
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sma
temperature difference
actuation structure
displacement
sma wires
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CN113534395A (en
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刘述伦
计树标
蔡耀前
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Guangdong Haideya Technology Co ltd
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Guangdong Haideya Technology Co ltd
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    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/02—Mountings, adjusting means, or light-tight connections, for optical elements for lenses
    • G02B7/04—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification
    • G02B7/09—Mountings, adjusting means, or light-tight connections, for optical elements for lenses with mechanism for focusing or varying magnification adapted for automatic focusing or varying magnification
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B5/00—Adjustment of optical system relative to image or object surface other than for focusing

Abstract

The application discloses a control method of an SMA actuation structure, electronic equipment and a storage medium, and belongs to the technical field of actuators. The SMA actuation structure control method comprises the following steps: obtaining a target temperature difference T between the two SMA wires according to the target displacement0(ii) a Obtaining the electrical characteristics of the two SMA wires under the current driving signal, and obtaining the actual temperature difference T between the two SMA wires according to the electrical characteristics of the two SMA wires1(ii) a Obtaining a target temperature difference T0Difference value T from actual temperature1If the deviation value delta T is larger than the threshold value, adjusting the driving signal supplied to the SMA wire, and obtaining the actual temperature difference value T again after the driving signal is adjusted1Until the deviation value Δ T is less than the threshold value. The control method of the SMA actuation structure can accurately control the strain of the SMA wire, and is beneficial to improving the motion precision of the SMA actuation structure.

Description

SMA actuation structure control method, electronic device and storage medium
Technical Field
The present disclosure relates to actuator technologies, and in particular, to a control method for an SMA actuation structure, an electronic device, and a storage medium.
Background
Sma (shape Memory alloy), that is, a shape Memory alloy, has characteristics of contracting when being energized and heated, and changing its own resistance with a change in ambient temperature. The SMA wire has the advantages of large contraction force, small volume, durability and the like, and is gradually applied to a driving device of a lens to realize functions of optical anti-shake, focusing and the like of the lens. When the moving part bears the lens, the moving part can drive the lens to move under the drive of the SMA wire, so that the optical anti-shake or focusing operation of the lens is realized.
In the optical anti-shake process, in order to realize a high-precision anti-shake effect, the dependent variable of the SMA wire needs to be accurately controlled, and on the premise of all calculation, the movement of a moving part connected with the SMA wire relative to a static part needs to be detected as the basis.
In the related art, there are various ways of detecting the amount of movement of a movable member connected to an SMA wire with respect to a stationary member. The method is characterized in that a position sensor is arranged to detect, the resistance of the SMA wire is measured and converted into the strain degree of the SMA wire, then the moving amount of the moving part relative to the static part is calculated, the position sensor arranged in the former needs a certain space although the operation is efficient, and the latter occupies a small space but has limited moving precision, so that the anti-shake quality is influenced.
Disclosure of Invention
The present application aims to solve one of the technical problems existing in the prior art. To this end, the application proposes a control method of an SMA actuation structure. The SMA actuation structure control method can accurately control the strain capacity of the SMA wire, and is beneficial to improving the movement precision of the moving part. The application also provides an electronic device and a storage medium.
According to an embodiment of the first aspect of the application, the SMA actuation structure includes a stationary member, a movable member and at least one SMA wire pair, each SMA wire pair includes two SMA wires for driving the movable member to move in two opposite directions within one degree of freedom relative to the stationary member, and the method for controlling the SMA wire pair in the SMA actuation structure includes the following steps:
obtaining a target temperature difference T between the two SMA wires according to the target displacement0(ii) a The target displacement represents the displacement of the movable piece relative to the static piece when the movable piece moves to the target position;
obtaining the electric characteristics corresponding to the strain generated by the two SMA wires under the current driving signal, and obtaining the actual temperature difference T between the two SMA wires according to the electric characteristics of the two SMA wires1；
Obtaining the target temperature difference T0Difference value T from the actual temperature1If the deviation value delta T is larger than the threshold value, adjusting the driving signal supplied to the SMA wire, and acquiring the actual temperature difference value T again after the driving signal is adjusted1Until said deviation value Δ T is smallAt a threshold value.
According to the SMA actuating structure control method, at least the following beneficial effects are achieved:
two SMA wires are arranged in one SMA wire pair and are used for driving the moving part to move in two opposite directions in one degree of freedom relative to the static part, so that the moving part moves more stably and more controllably relative to the static part.
The self temperature of the SMA wire and the strain quantity of the SMA wire are in a linear relation, the electric characteristic of the SMA wire is measured and then converted into the temperature, and the fine adjustment of the strain quantity of the SMA wire can be realized by utilizing the linear relation between the self temperature of the SMA wire and the strain quantity.
Meanwhile, because the resistance of the SMA wire is influenced by the ambient temperature, through the arrangement, because the two SMA wires are in the same environment, the two SMA wires are in the same ambient temperature, the detected electrical characteristics of the SMA wires are simultaneously converted into the temperature, and the temperature difference value between the two SMA wires is detected, so that the corresponding variables on the two SMA wires are obtained, the influence of the ambient temperature on the strain capacity of the SMA wires can be eliminated, and the noise reduction treatment on the ambient temperature is realized.
According to the arrangement, the temperature difference value between the two SMA wires is used as a control variable to indirectly control the corresponding variable between the two SMA wires, so that the control precision of the controller on the SMA wires can be greatly improved, and the purpose of accurately controlling the moving part to move relative to the static part is finally achieved. When this actuating structure is arranged in the camera module as focusing or optics anti-shake's driver, be favorable to improving the formation of image quality of camera. In addition, by using the control method, components such as a temperature sensor and the like do not need to be additionally arranged, so that the space is saved, and the assembly is convenient.
According to some embodiments of the application, the actual temperature difference T between the two SMA wires is obtained according to the electrical characteristics of the two SMA wires1The method comprises the following steps: respectively converting the electrical characteristics of the two SMA wires into first real-time temperatures t of the two SMA wires1And a second real time temperature t2(ii) a Obtaining the first real-time temperature t1And the second real-time temperature t2BetweenSaid actual temperature difference T1。
According to some embodiments of the application, the method further comprises the following steps: and if the deviation value delta T is smaller than a threshold value, keeping the driving signals of the two SMA wires within a target dynamic range.
According to some embodiments of the application, the electrical characteristic is a voltage.
According to some embodiments of the present application, in the SMA actuation structure, a sampling resistor is connected in series to a trunk of an electric loop in which the SMA wire is located, and a voltage of an input of the electric loop is fixed;
the method for acquiring the electrical characteristics of the two SMA wires under the current driving signal comprises the following steps:
detecting the voltage value V of the sampling resistor under the current driving signalS；
The voltage value VSThe electric characteristic is used as a measure of the strain generated by the SMA wire connected with the sampling resistor in series at present under the present driving signal.
According to some embodiments of the application, the method further comprises the following steps: also comprises the following steps: and acquiring the temperature difference between the two SMA wires of the movable piece under different displacement amounts relative to the static piece, and establishing the conversion relation between the displacement amounts and the temperature difference.
According to some embodiments of the application, the method further comprises the following steps: also comprises the following steps: and under the condition of obtaining different temperature difference values between the two SMA wires, the displacement of the movable part relative to the static part is obtained, and the conversion relation between the displacement and the temperature difference value is obtained.
According to some embodiments of the application, the method further comprises the following steps: and acquiring a target displacement of the movable piece relative to the stationary piece, and acquiring a target temperature difference value corresponding to the target displacement according to a conversion relation between the displacement and the temperature difference value.
An electronic device according to an embodiment of the second aspect of the present application includes:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement the SMA actuation structure control method described above.
According to the third aspect of the application, the SMA actuation structure control method comprises a first step of controlling SMA actuation structure, a second step of controlling SMA actuation structure, and a third step of controlling SMA actuation structure.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a control method of an SMA actuation structure control method in an embodiment of the present application.
Fig. 2 is a schematic diagram of an SMA actuation arrangement in an embodiment of the present application.
Fig. 3 is a schematic diagram of an SMA actuation arrangement in an embodiment of the application.
Fig. 4 is a schematic diagram of an SMA actuation arrangement in an embodiment of the application.
FIG. 5 is a schematic diagram of a series sampling resistor on a trunk of an electrical circuit in which an SMA wire is located in an embodiment of the present application.
FIG. 6 is a schematic diagram of a series sampling resistor on a trunk of an electrical circuit in which an SMA wire is located in another embodiment of the application.
Fig. 7 is a flowchart of the control method in step S200 in fig. 1.
Reference numbers:
a stationary member 100;
a movable member 200;
an SMA wire 300;
the resistor 400 is sampled.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, left, right, front, rear, and the like, referred to as positional or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In the description of the present application, if there are first and second descriptions for distinguishing technical features, the description should not be interpreted as indicating or implying any relative importance or implying any number of indicated technical features or implying any precedence over indicated by the indicated technical features.
In the description of the present application, unless otherwise specifically limited, terms such as set, installed, connected and the like should be understood broadly, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present application in combination with the specific contents of the technical solutions.
A method of controlling an SMA actuation structure according to an embodiment of the first aspect of the present application is described below with reference to figures 1 to 7.
Referring to fig. 1 to 4, a method for controlling an SMA actuation structure according to an embodiment of the first aspect of the present application includes a stationary member 100, a movable member 200, and at least one SMA wire pair, each SMA wire pair including two SMA wires 300, the two SMA wires 300 being used to drive the movable member 200 to move in two opposite directions in one degree of freedom relative to the stationary member 100, and the method for controlling the SMA wire pairs in the SMA actuation structure includes the following steps:
step S100, according to the target displacement, obtaining the distance between two SMA wires 300Target temperature difference T0(ii) a Wherein, the target displacement represents the displacement of the movable element 200 relative to the stationary element 100 when moving to the target position;
step S200, obtaining electrical characteristics corresponding to strains generated by the two SMA wires 300 under the current driving signal, and obtaining an actual temperature difference T between the two SMA wires 300 according to the electrical characteristics of the two SMA wires 3001；
Step S300, obtaining a target temperature difference T0Difference value T from actual temperature1The deviation value Δ T of;
if the deviation value Δ T is greater than the threshold, step S400 is executed;
step S400, adjusting the driving signal supplied to the SMA wire 300, and re-obtaining the actual temperature difference T after the driving signal adjustment1Until the deviation value Δ T is less than the threshold value.
With respect to SMA, SMA (Shape Memory Alloy), a Shape Memory Alloy having a martensite phase, an austenite phase, and in some cases an R phase, changes in its own temperature cause changes in its own resistance and a degree of strain. Generally, when a drive signal is applied to the SMA wire 300 to cause strain, the SMA wire 300 is generally in a two-phase mixed state of a martensite phase and an austenite phase, and in this two-phase mixed state, the electrical characteristics of the SMA wire 300 during loading and unloading are in a linear relationship with temperature, and the amount of temperature change is also in a certain linear relationship with the amount of strain.
To this end, the SMA wire 300 may be used as a driving member of an actuator using the above-described properties of the SMA wire 300. Specifically, in the SMA actuation structure, including moving part 200, stationary part 100 and two SMA wires 300, SMA wire 300 connects stationary part 100 and moving part 200, and it contracts to exert drive signal to SMA wire 300 and make it receive the thermal strain, pulls moving part 200 and stationary part 100 two opposite directions within a degree of freedom and moves, and when this SMA actuation structure is used as the driver of focusing or optical anti-shake in the camera module, the camera can realize the focusing operation or realize anti-shake motion compensation.
It will be appreciated with reference to fig. 2-4, with regard to the arrangement of the SMA wire 300. Referring to fig. 2, it may be arranged in the X-axis direction so as to pull the movable member 200 to move in the X-axis direction relative to the stationary member 100; it can also be arranged in the Y-axis direction, so that the movable element 200 is pulled to move in the Y-axis direction relative to the stationary element 100; referring to fig. 3, it can also be arranged in the Z-axis direction, so that the movable member 200 is pulled to move in the Z-axis direction relative to the stationary member 100; alternatively, referring to fig. 4, the movable member 200 may be disposed symmetrically around a rotation point, so that the movable member 200 can perform a rotational motion relative to the stationary member 100 along the rotation point. It should be noted that the arrangement of the SMA wires 300 in the SMA actuation structure is not limited thereto.
Since the electrical characteristic of the SMA wire 300 is in a linear relationship with the temperature, the electrical characteristic of the SMA wire 300 is converted into a temperature value of the SMA wire 300, and the temperature value obtained by conversion is used as a control variable to adjust the strain amount of the SMA wire 300, so that the fine adjustment of the strain amount of the SMA wire 300 can be realized.
In the process that the movable element 200 moves relative to the stationary element 100, due to the influence of multiple external factors, the movable element 200 cannot move in place relative to the stationary element 100 at one time, and in order to realize accurate control, closed-loop control is often adopted to adjust the driving signal of the SMA wire 300 at any moment according to the strain condition of the SMA wire.
However, in the closed-loop control process, if only the single SMA wire 300 is subjected to closed-loop control, the influence of the ambient temperature on the strain amount of the SMA wire 300 will be ignored, and certain error exists in the closed-loop control. For this reason, in order to realize further accurate control, two SMA wires 300 arranged oppositely in one degree of freedom are arranged, and the temperature difference value between the two SMA wires 300 is used as a closed-loop control object, because the two SMA wires 300 are at the same ambient temperature, the relative strain quantity of the two SMA wires 300 is calculated through the relative temperature variation quantity of the two SMA wires 300, and the corresponding variable represents the displacement quantity of the movable piece 200 relative to the stationary piece 100, so that the influence of the ambient temperature on the SMA wires 300 is eliminated, and finally the noise reduction processing on the ambient temperature is realized.
To this end, with reference to fig. 1, the following method steps may be adopted for the temperature closed-loop control, and it is to be understood that the following steps are only examples of controlling two SMA wires 300 in the same SMA wire pair:
step S100, obtaining a target temperature difference T between the two SMA wires 300 according to the target displacement0The target displacement represents a displacement of the movable element 200 relative to the stationary element 100 when the movable element moves to the target position. In this step, when the movable member 200 moves to a predetermined position relative to the stationary member 100, a relative strain amount of a certain degree is provided between the two SMA wires 300, so that the movable member 200 can move in a certain specific direction relative to the stationary member 100, and since the temperature variation amount of the SMA wire 300 and the strain amount also have a certain linear relationship, by obtaining the difference between the respective temperatures of the two SMA wires 300, the corresponding variable between the two SMA wires 300 can be known, so that the corresponding variable between the two SMA wires 300 can be adjusted according to the target displacement amount.
Step S200, obtaining an electrical characteristic corresponding to the strain generated by the two SMA wires 300 under the current driving signal, and obtaining an actual temperature difference T between the two SMA wires 300 according to the electrical characteristic of the two SMA wires 3001. In this step, the electrical characteristic may be the voltage of the SMA wire 300. In the two-phase mixed state, the electrical characteristics of the SMA wire 300 are linearly related to the temperature during loading and unloading, and thus, the SMA wire can be converted into the electrical characteristics according to the acquired electrical signals, and then the converted electrical characteristics are converted into the actual temperature difference T1To thereby obtain the difference value T at the actual temperature1The displacement of the lower movable member 200 relative to the stationary member 100.
Step S300, obtaining a target temperature difference T0Difference value T from actual temperature1The deviation value Δ T of (a).
If the deviation Δ T is greater than the threshold, step S400 is performed.
Step S400, adjusting the driving signal supplied to the SMA wire 300, and reacquiring the actual temperature difference T between the two SMA wires 300 after the driving signal adjustment1Until Δ T is less than the threshold. In this step, if the target temperature value T is set0And the actual temperature value T1Is greater than the threshold value, it indicates that the movable member 200 has not moved to the target position relative to the stationary member 100, and therefore, it is necessary to adjust the driving signal supplied to the SMA wire 300 to match the target positionDifference of ambient temperature T1Continuously adjusting; when T is0And T1When the deviation value Δ T is less than the threshold value, it indicates that the movable member 200 has moved to the predetermined position relative to the stationary member 100.
By means of the arrangement, the linear relation between the temperature of the SMA wire 300 and the strain capacity of the SMA wire 300 is utilized, so that the fine adjustment of the strain capacity of the SMA wire 300 is realized; in addition, the temperature difference between the two SMA wires 300 is calculated, and the relative strain quantity on the two SMA wires 300 is obtained through the temperature difference, so that the influence of the ambient temperature on the strain of the SMA wires 300 can be eliminated, and the noise reduction treatment on the ambient temperature is realized. The arrangement can further improve the control precision of the controller on the SMA wire 300, and finally, the aim of accurately preventing shaking is fulfilled.
Referring to fig. 7, in some embodiments of the present application, the actual temperature difference T between two SMA wires 300 is obtained based on the electrical characteristics of the two SMA wires 3001The method comprises the following steps:
step S210, respectively converting the electrical characteristics of the two SMA wires 300 into the first real-time temperatures t of the two SMA wires 3001And a second real-time temperature t2；
Step S220, obtaining a first real-time temperature t1And a second real time temperature t2Actual temperature difference T between1。
It will be appreciated that the first real time temperature t1Is the real-time temperature of one of the SMA wires 300, the second real-time temperature t2Is the real-time temperature of the other SMA wire 300.
In some embodiments of the present application, the following steps are also included:
in step S500, if the deviation Δ T is smaller than the threshold, the driving signals of the two SMA wires 300 are kept within the target dynamic range.
It can be understood that, when the deviation value Δ T is smaller than the threshold value, it represents that the displacement amount between the movable element 200 and the stationary element 100 reaches the target displacement amount, and at this time, the driving signals of the two SMA wires 300 need to be maintained within the target dynamic range, so that the two SMA wires 300 are kept in a tensioned state, so as to realize the fixed holding of the position of the movable element 200 relative to the stationary element 100.
It is understood that the electrical characteristic is voltage.
Referring to fig. 5 and 6, in some embodiments of the present application, in the SMA actuation structure, a sampling resistor 400 is connected in series to a trunk of an electric circuit in which the SMA wire 300 is located, and a voltage input to the electric circuit is fixed;
acquiring the electrical characteristics of the two SMA wires 300 under the current drive signal includes the following steps:
detecting the voltage value V of the sampling resistor 400 under the current driving signalS；
Voltage value VSThe electrical characteristic is the voltage of the SMA wire 300 corresponding to the strain generated by the SMA wire 300 connected in series with the sampling resistor under the current driving signal.
It will be appreciated that the voltage at the input of the electrical loop is fixed.
It should be understood that, when a plurality of SMA wire pairs are provided, each SMA wire pair is provided in parallel, and the two SMA wires 300 in each SMA wire pair are also provided in parallel; meanwhile, a sampling resistor 400 is connected in series with a trunk of a circuit in which each SMA wire 300 is located, and each SMA wire 300 can be independently controlled, so that any one SMA wire 300 can be independently controlled to be in a connected or disconnected state, and when other SMA wires 300 are in a disconnected state and only one SMA wire 300 is in a connected state, the sampling resistor 400 can be regarded as being connected in series with the SMA wire 300 in the connected state.
In this state, since the voltage input to the electric circuit is fixed, the voltage on the SMA wire 300 and the inverse voltage of the sampling resistor 400 have a certain linear relationship, and further, when the temperature value of the SMA wire 300 needs to be obtained, the temperature value can be directly obtained from the inverse voltage value of the sampling resistor 400. When the strain of the SMA wire 300 needs to be detected, the voltage value of the sampling resistor 400 only needs to be detected and then the detection result is simply converted, and a position sensor does not need to be arranged, so that the space is saved, the voltage of the SMA wire 300 does not need to be detected, the calculation amount of the processor is saved, the calculation speed of the processor is favorably improved, the driving signal of the SMA wire 300 is rapidly adjusted, and finally the movement speed of the movable part 200 relative to the static part 100 is improved.
Specifically, one of the SMA wires 300 is taken as an example. Let the power supply voltage be V and the resistance value of the sampling resistor 400 be RSMeanwhile, the voltage values of the sampling resistors 400 are respectively denoted as VSSince the temperature value of the SMA wire 300 and the inverse voltage value of the sampling resistor 400 are in a linear relationship, and the temperature of the SMA wire 300 is denoted as T, then
Figure GDA0003651451070000081
Wherein, k and C are constants, consequently, can obtain the real-time temperature value of SMA wire 300 through the real-time voltage value who obtains sampling resistor 400, so set up, can greatly reduce the operand of treater, improve the arithmetic speed of treater, make the treater can be instantaneously to the actuating signal of SMA wire 300 adjust, finally improve anti-shake speed.
In some embodiments of the present application, the following steps are also included: the temperature difference between the two SMA wires 300 of the movable piece 200 at different displacement amounts relative to the stationary piece 100 is obtained, and the conversion relation between the displacement amount and the temperature difference is established.
It is understood that, in order to increase the operation speed of the processor, the conversion relationship between the displacement and the temperature difference can be preset.
It can be understood that, in the manufacturing process, the actual operation condition may be simulated first, two SMA wires 300, the movable element 200 and the stationary element 100 are set, the displacement of the movable element 200 at different positions relative to the stationary element 100 is recorded, the temperature difference of the SMA wire pair corresponding to the displacement is obtained, the conversion relationship between the displacement and the temperature difference is established according to the displacement and the corresponding temperature difference, and the conversion relationship is written into the processor, so that the corresponding temperature difference is directly obtained by comparing the displacement with the conversion relationship.
Through such setting, can save the operating time of treater when anti-shake motion, be favorable to improving anti-shake speed.
In some embodiments of the present application, the following steps are also included: and acquiring the temperature difference value of the two different SMA wires 300, the displacement of the movable piece 200 relative to the stationary piece 100, and acquiring the conversion relation between the displacement and the temperature difference value.
It will be appreciated that there may be other arrangements for the setting of the target temperature difference.
It can be understood that, in the manufacturing process, the actual operation condition may be simulated first to set the two SMA wires 300, the movable element 200 and the stationary element 100, the driving signal is applied to the pair of SMA wires to make the two SMA wires 300 have different temperature differences, and the displacement of the movable element 200 relative to the stationary element 100 under different temperature differences is recorded, so as to obtain the conversion relationship between the displacement and the temperature difference, and write the conversion relationship into the processor, thereby directly obtaining the corresponding temperature difference by comparing the displacement with the conversion relationship.
In some embodiments of the present application, the following steps are also included: the target displacement of the movable element 200 relative to the stationary element 100 is obtained, and the target temperature difference corresponding to the target displacement is obtained according to the conversion relationship between the displacement and the temperature difference.
It is understood that before the movable element 200 moves relative to the stationary element 100, the processor may obtain an expected displacement of the movable element 200 relative to the stationary element 100 from the outside, where the displacement is a target displacement of the movable element 200 relative to the stationary element 100, and select a temperature difference corresponding to the target displacement in the temperature difference database according to the obtained target displacement, and use the temperature difference as a target temperature difference. By such an arrangement, the operation time of the processor can be saved when the movable element 200 moves relative to the stationary element 100, which is beneficial to improving the anti-shake speed.
An electronic device according to an embodiment of the second aspect of the present application includes:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
the memory stores instructions that are executed by the at least one processor to cause the at least one processor to carry out the SMA actuation structure control method described above when the instructions are executed.
It is to be understood that the electronic device may be any type of smart terminal, such as a mobile phone, a tablet computer, a car recorder, a personal computer, etc.
It is understood that the electronic device includes: one or more processors and memory. The processor and memory may be communicatively coupled by a bus or otherwise. The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and units, such as program instructions/units corresponding to the electronic device in the embodiments of the present application. The processor executes various functional applications and data processing, namely, the SMA actuation structure control method of the above-described method embodiments, by executing non-transitory software programs, instructions and units stored in the memory. The memory may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to program instructions/units, and the like. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. The one or more units are stored in a memory and, when executed by the one or more processors, perform the SMA actuation structure control method in any of the method embodiments described above.
According to the third aspect of the present application, a computer-readable storage medium stores computer-executable instructions for causing a computer to execute the SMA actuation structure control method described above.
It will be appreciated that a computer-readable storage medium stores computer-executable instructions that, when executed by one or more processors, for example, by a processor, may cause the one or more processors to perform the SMA actuation structure control method of the above-described method embodiments. For example, the above-described method steps S100 to S500 in fig. 1 and the method steps S210 to S220 in fig. 7 are performed.
The above-described embodiments of the apparatus are merely illustrative, and units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Through the above description of the embodiments, it is obvious to those skilled in the art that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.

Claims (10)

  1. A method of controlling an SMA actuation structure comprising a stationary member, a movable member and at least one pair of SMA wires, each pair comprising two SMA wires for driving the movable member to move in opposite directions in one degree of freedom relative to the stationary member, characterized in that,
    the control method of the single SMA wire pair in the SMA actuating structure comprises the following steps:
    obtaining a target temperature difference T between the two SMA wires according to the target displacement0(ii) a The target displacement represents the displacement of the movable piece relative to the static piece when the movable piece moves to the target position;
    obtaining the electricity corresponding to the strain generated by the two SMA wires under the current driving signalObtaining the actual temperature difference T between the two SMA wires according to the electrical characteristics of the two SMA wires1；
    Obtaining the target temperature difference T0Difference value T from the actual temperature1If the deviation value delta T is larger than the threshold value, adjusting the driving signal supplied to the SMA wire, and obtaining the actual temperature difference value T again after the driving signal is adjusted1Until the deviation value delta T is smaller than a threshold value.
  2. 2. The SMA actuation structure control method of claim 1, wherein the obtaining of the actual temperature difference T between the two SMA wires from the electrical characteristics of the two SMA wires1The method comprises the following steps:
    respectively converting the electrical characteristics of the two SMA wires into first real-time temperatures t of the two SMA wires1And a second real time temperature t2；
    Obtaining the first real-time temperature t1And the second real-time temperature t2Said actual temperature difference T between1。
  3. 3. The SMA actuation structure control method according to claim 1, further comprising the steps of:
    and if the deviation value delta T is smaller than a threshold value, keeping the driving signals of the two SMA wires within a target dynamic range.
  4. 4. The SMA actuation structure control method of claim 1, wherein: the electrical characteristic is a voltage.
  5. 5. The SMA actuation structure control method of claim 4, wherein:
    in the SMA actuating structure, a sampling resistor is connected in series on a main circuit of an electric circuit in which the SMA wire is positioned, and the voltage input by the electric circuit is fixed and unchanged;
    the method for acquiring the electrical characteristics of the two SMA wires under the current driving signal comprises the following steps:
    detecting the voltage value V of the sampling resistor under the current driving signalS；
    The voltage value VSThe electric characteristic is used for measuring the strain generated by the SMA wire which is connected with the sampling resistor in series at present under the present driving signal.
  6. 6. The SMA actuation structure control method according to claim 1, further comprising the steps of: and acquiring the temperature difference between the two SMA wires of the movable piece under different displacement amounts relative to the static piece, and establishing the conversion relation between the displacement amounts and the temperature difference.
  7. 7. The SMA actuation structure control method of claim 1, further comprising the steps of: and under the condition of obtaining different temperature difference values between the two SMA wires, the displacement of the movable part relative to the static part is obtained, and the conversion relation between the displacement and the temperature difference value is obtained.
  8. 8. A method of controlling an SMA actuation structure according to claim 6 or 7, further comprising the steps of: and acquiring a target displacement of the movable piece relative to the stationary piece, and acquiring a target temperature difference value corresponding to the target displacement according to a conversion relation between the displacement and the temperature difference value.
  9. 9. An electronic device, comprising:
    at least one processor, and,
    a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,
    the memory stores instructions for execution by the at least one processor to cause the at least one processor, when executing the instructions, to implement a SMA actuation structure control method according to any one of claims 1 to 8.
  10. 10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform a method of controlling an SMA actuation structure according to any one of claims 1 to 8.
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CN113484969B (en) * 2021-06-23 2022-05-20 广东海德亚科技有限公司 SMA wire drive structure, closed-loop control method thereof and electronic equipment
CN113974255B (en) * 2021-11-29 2023-08-22 天长市富实安全防护用品有限公司 Embedded video recording equipment for safety helmet with anti-shake structure

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